Package frc.robot.commands
Class RotateToSpeakerAndDriveCommand
java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.commands.RotateToSpeakerAndDriveCommand
- All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class RotateToSpeakerAndDriveCommand
extends edu.wpi.first.wpilibj2.command.Command
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Nested Class Summary
Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command
edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior
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Field Summary
Fields inherited from class edu.wpi.first.wpilibj2.command.Command
m_requirements
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Constructor Summary
ConstructorsConstructorDescriptionRotateToSpeakerAndDriveCommand
(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, DoubleSupplier sideways, DoubleSupplier radians) Rotates the robot to face the speaker, while still allowing the driver to control forward and backward movement -
Method Summary
Methods inherited from class edu.wpi.first.wpilibj2.command.Command
addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, end, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, initSendable, isFinished, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout
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Constructor Details
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RotateToSpeakerAndDriveCommand
public RotateToSpeakerAndDriveCommand(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, DoubleSupplier sideways, DoubleSupplier radians) Rotates the robot to face the speaker, while still allowing the driver to control forward and backward movement- Parameters:
swerveSubsystem
- The instance ofSwerveSubsystem
forward
- The desired forward percentage of the robotsideways
- The desired sideways percentage of the robotradians
- The desired rotation speed of the robot
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Method Details
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execute
public void execute()- Overrides:
execute
in classedu.wpi.first.wpilibj2.command.Command
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